OpenRaiser/Intern-Atlas huggingface dataset:
Grounding Generative Planners in Verifiable Logic: A Hybrid Architecture for Trustworthy Embodied AI
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) show promise as planners for embodied AI, but their stochastic nature lacks formal reasoning, preventing strict safety guarantees for physical deployment. Current approaches often rely on unreliable LLMs for safety checks or simply reject unsafe plans without offering repairs. We introduce the Verifiable Iterative Refinement Framework (VIRF), a neuro-symbolic architecture that shifts the paradigm from passive safety gatekeeping to active collaboration. Our core contribution is a tutor-apprentice dialogue where a deterministic Logic Tutor, grounded in a formal safety ontology, provides causal and pedagogical feedback to an LLM planner. This enables intelligent plan repairs rather than mere avoidance. We also introduce a scalable knowledge acquisition pipeline that synthesizes safety knowledge bases from real-world documents, correcting blind spots in existing benchmarks. In challenging home safety tasks, VIRF achieves a perfect 0 percent Hazardous Action Rate (HAR) and a 77.3 percent Goal-Condition Rate (GCR), which is the highest among all baselines. It is highly efficient, requiring only 1.1 correction iterations on average. VIRF demonstrates a principled pathway toward building fundamentally trustworthy and verifiably safe embodied agents.
Dynamic Long Context Reasoning over Compressed Memory via End-to-End Reinforcement Learning
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) face significant challenges in long-context processing, including quadratic computational costs, information forgetting, and the context fragmentation inherent in retrieval-augmented generation (RAG). We propose a cognitively inspired framework for efficient long-context inference based on chunk-wise compression and selective memory recall, rather than processing all raw tokens. The framework segments long inputs into chunks and encodes each chunk into compressed memory representations using a learned compressor. A gating module dynamically selects relevant memory blocks, which are then iteratively processed by a reasoning module with an evolving working memory to solve downstream tasks. The compressor and reasoner are jointly optimized via end-to-end reinforcement learning, while the gating module is trained separately as a classifier. Experimental results show that the proposed method achieves competitive accuracy on multi-hop reasoning benchmarks such as RULER-HQA, extrapolates context length from 7K to 1.75M tokens, and offers a favorable accuracy-efficiency trade-off compared to strong long-context baselines. In particular, it achieves up to a 2 times reduction in peak GPU memory usage and a 6 times inference speedup over MemAgent.
RealSynCol: a high-fidelity synthetic colon dataset for 3D reconstruction applications
Venue: arXiv cs.CV 2026
Year: 2026

Deep learning has the potential to improve colonoscopy by enabling 3D reconstruction of the colon, providing a comprehensive view of mucosal surfaces and lesions, and facilitating the identification of unexplored areas. However, the development of robust methods is limited by the scarcity of large-scale ground truth data. We propose RealSynCol, a highly realistic synthetic dataset designed to replicate the endoscopic environment. Colon geometries extracted from 10 CT scans were imported into a virtual environment that closely mimics intraoperative conditions and rendered with realistic vascular textures. The resulting dataset comprises 28\,130 frames, paired with ground truth depth maps, optical flow, 3D meshes, and camera trajectories. A benchmark study was conducted to evaluate the available synthetic colon datasets for the tasks of depth and pose estimation. Results demonstrate that the high realism and variability of RealSynCol significantly enhance generalization performance on clinical images, proving it to be a powerful tool for developing deep learning algorithms to support endoscopic diagnosis.
From Assistant to Double Agent: Formalizing and Benchmarking Attacks on OpenClaw for Personalized Local AI Agent
Venue: arXiv cs.AI 2026
Year: 2026

Although large language model (LLM)-based agents, exemplified by OpenClaw, are increasingly evolving from task-oriented systems into personalized AI assistants for solving complex real-world tasks, their practical deployment also introduces severe security risks. However, existing agent security research and evaluation frameworks primarily focus on synthetic or task-centric settings, and thus fail to accurately capture the attack surface and risk propagation mechanisms of personalized agents in real-world deployments. To address this gap, we propose Personalized Agent Security Bench (PASB), an end-to-end security evaluation framework tailored for real-world personalized agents. Building upon existing agent attack paradigms, PASB incorporates personalized usage scenarios, realistic toolchains, and long-horizon interactions, enabling black-box, end-to-end security evaluation on real systems. Using OpenClaw as a representative case study, we systematically evaluate its security across multiple personalized scenarios, tool capabilities, and attack types. Our results indicate that OpenClaw exhibits critical vulnerabilities at different execution stages, including user prompt processing, tool usage, and memory retrieval, highlighting substantial security risks in personalized agent deployments. The code for the proposed PASB framework is available at https://github.com/AstorYH/PASB.
Bi-Adapt: Few-shot Bimanual Adaptation for Novel Categories of 3D Objects via Semantic Correspondence
Venue: arXiv cs.RO 2026
Year: 2026

Bimanual manipulation is imperative yet challenging for robots to execute complex tasks, requiring coordinated collaboration between two arms. However, existing methods for bimanual manipulation often rely on costly data collection and training, struggling to generalize to unseen objects in novel categories efficiently. In this paper, we present Bi-Adapt, a novel framework designed for efficient generalization for bimanual manipulation via semantic correspondence. Bi-Adapt achieves cross-category affordance mapping by leveraging the strong capability of vision foundation models. Fine-tuning with restricted data on novel categories, Bi-Adapt exhibits notable generalization to out-of-category objects in a zero-shot manner. Extensive experiments conducted in both simulation and real-world environments validate the effectiveness of our approach and demonstrate its high efficiency, achieving a high success rate on different benchmark tasks across novel categories with limited data. Project website: https://biadapt-project.github.io/
Prism: Spectral-Aware Block-Sparse Attention
Venue: arXiv cs.CL 2026
Year: 2026

Block-sparse attention is promising for accelerating long-context LLM pre-filling, yet identifying relevant blocks efficiently remains a bottleneck. Existing methods typically employ coarse-grained attention as a proxy for block importance estimation, but often resort to expensive token-level searching or scoring, resulting in significant selection overhead. In this work, we trace the inaccuracy of standard coarse-grained attention via mean pooling to a theoretical root cause: the interaction between mean pooling and Rotary Positional Embeddings (RoPE). We prove that mean pooling acts as a low-pass filter that induces destructive interference in high-frequency dimensions, effectively creating a "blind spot" for local positional information (e.g., slash patterns). To address this, we introduce Prism, a training-free spectral-aware approach that decomposes block selection into high-frequency and low-frequency branches. By applying energy-based temperature calibration, Prism restores the attenuated positional signals directly from pooled representations, enabling block importance estimation using purely block-level operations, thereby improving efficiency. Extensive evaluations confirm that Prism maintains accuracy parity with full attention while delivering up to $\mathbf{5.1\times}$ speedup.
A Two-Week In-the-Wild Study of Screen Filters and Camera Sliders for Smartphone Privacy in Public Spaces
Venue: arXiv cs.HC 2026
Year: 2026

Smartphone usage in public spaces can raise privacy concerns, in terms of shoulder surfing and unintended camera capture. In real-world public space settings, we investigated the impact of tangible privacy-enhancing tools (here: screen filter and camera slider) on smartphone users' reported privacy perception, behavioral adaptations, usability and social dynamics. We conducted a mixed-method, in-the-wild study ($N = 22$) using off-the-shelf smartphone privacy tools. We investigated subjective behavioral transition by combining questionnaires with semi-structured interviews. Participants used the screen filter and the camera slider for two weeks; they reported changes in attitude and behavior after using a screen filter including screen visibility and comfort when using phones publicly. They explained decreased privacy-protective behaviors, such as actively covering their screens, suggesting a shift in perceived risk. Qualitative findings about the camera slider suggested underlying psychological mechanisms, including privacy awareness and concerns about social perception, while also offering insights regarding the tools' effectiveness.
Boltzmann sampling and optimal exact-size sampling for directed acyclic graphs
Venue: arXiv cs.DS 2026
Year: 2026

We propose two efficient algorithms for generating uniform random directed acyclic graphs, including an asymptotically optimal exact-size sampler that performs $\frac{n^2}{2} + o(n^2)$ operations and requests to a random generator. This was achieved by extending the Boltzmann model for graphical generating functions and by using various decompositions of directed acyclic graphs. The presented samplers improve upon the state-of-the-art algorithms in terms of theoretical complexity and offer a significant speed-up in practice.
Gesture Matters: Pedestrian Gesture Recognition for AVs Through Skeleton Pose Evaluation
Venue: arXiv cs.CV 2026
Year: 2026

Gestures are a key component of non-verbal communication in traffic, often helping pedestrian-to-driver interactions when formal traffic rules may be insufficient. This problem becomes more apparent when autonomous vehicles (AVs) struggle to interpret such gestures. In this study, we present a gesture classification framework using 2D pose estimation applied to real-world video sequences from the WIVW dataset. We categorise gestures into four primary classes (Stop, Go, Thank & Greet, and No Gesture) and extract 76 static and dynamic features from normalised keypoints. Our analysis demonstrates that hand position and movement velocity are especially discriminative in distinguishing between gesture classes, achieving a classification accuracy score of 87%. These findings not only improve the perceptual capabilities of AV systems but also contribute to the broader understanding of pedestrian behaviour in traffic contexts.
Is Meta-Path Attention an Explanation? Evidence of Alignment and Decoupling in Heterogeneous GNNs
Venue: arXiv cs.LG 2026
Year: 2026

Meta-path-based heterogeneous graph neural networks aggregate over meta-path-induced views, and their semantic-level attention over meta-path channels is widely used as a narrative for ``which semantics matter.'' We study this assumption empirically by asking: when does meta-path attention reflect meta-path importance, and when can it decouple? A key challenge is that most post-hoc GNN explainers are designed for homogeneous graphs, and naive adaptations to heterogeneous neighborhoods can mix semantics and confound perturbations. To enable a controlled empirical analysis, we introduce MetaXplain, a meta-path-aware post-hoc explanation protocol that applies existing explainers in the native meta-path view domain via (i) view-factorized explanations, (ii) schema-valid channel-wise perturbations, and (iii) fusion-aware attribution, without modifying the underlying predictor. We benchmark representative gradient-, perturbation-, and Shapley-style explainers on ACM, DBLP, and IMDB with HAN and HAN-GCN, comparing against xPath and type-matched random baselines under standard faithfulness metrics. To quantify attention reliability, we propose Meta-Path Attention--Explanation Alignment (MP-AEA), which measures rank correlation between learned attention weights and explanation-derived meta-path contribution scores across random runs. Our results show that meta-path-aware explanations typically outperform random controls, while MP-AEA reveals both high-alignment and statistically significant decoupling regimes depending on the dataset and backbone; moreover, retraining on explanation-induced subgraphs often preserves, and in some noisy regimes improves, predictive performance, suggesting an explanation-as-denoising effect.
The M-Tensor Format: Optimality in High Dimensional Regression for Nonlinear Models with Scarce Data
Venue: arXiv cs.CE 2026
Year: 2026

We present a nonlinear regression framework based on tensor algebra tailored to high dimensional contexts where data is scarce. We exploit algebraic properties of a partial tensor product, namely the m-tensor product, to leverage structured equations with separated variables. The proposed method combines kernel properties along with tensor algebra to prevent the curse of dimensionality and tackle approximations up to hundreds of parameters while avoiding the fixed point strategy. This formalism allows us to provide different regularization techniques fit for low amount of data with a high number of parameters while preserving well-known matrix-based properties. We demonstrate complexity scaling on a general benchmark and dynamical systems to show robustness for engineering problems and ease of implementation.
TreeTensor: Boost AI System on Nested Data with Constrained Tree-Like Tensor
Venue: arXiv cs.AI 2026
Year: 2026

Tensor is the most basic and essential data structure of nowadays artificial intelligence (AI) system. The natural properties of Tensor, especially the memory-continuity and slice-independence, make it feasible for training system to leverage parallel computing unit like GPU to process data simultaneously in batch, spatial or temporal dimensions. However, if we look beyond perception tasks, the data in a complicated cognitive AI system usually has hierarchical structures (i.e. nested data) with various modalities. They are inconvenient and inefficient to program directly with conventional Tensor with fixed shape. To address this issue, we summarize two main computational patterns of nested data, and then propose a general nested data container: TreeTensor. Through various constraints and magic utilities of TreeTensor, one can apply arbitrary functions and operations to nested data with almost zero cost, including some famous machine learning libraries, such as Scikit-Learn, Numpy and PyTorch. Our approach utilizes a constrained tree-structure perspective to systematically model data relationships, and it can also easily be combined with other methods to extend more usages, such as asynchronous execution and variable-length data computation. Detailed examples and benchmarks show TreeTensor not only provides powerful usability in various problems, especially one of the most complicated AI systems at present: AlphaStar for StarCraftII, but also exhibits excellent runtime efficiency without any overhead. Our project is available at https://github.com/opendilab/DI-treetensor.
Reinforcement Inference: Leveraging Uncertainty for Self-Correcting Language Model Reasoning
Venue: arXiv cs.AI 2026
Year: 2026

Modern large language models (LLMs) are often evaluated and deployed under a one-shot, greedy inference protocol, especially in professional settings that require deterministic behavior. This regime can systematically under-estimate a fixed model's true capability: many errors arise not from missing knowledge, but from premature commitment under internal ambiguity. We introduce Reinforcement Inference, an entropy-aware inference-time control strategy that uses the model's own uncertainty to selectively invoke a second, more deliberate reasoning attempt, enabling stronger performance without any retraining. On 12,032 MMLU-Pro questions across 14 subjects, using DeepSeek-v3.2 with deterministic decoding in a zero-shot setting, Reinforcement Inference improves accuracy from 60.72% to 84.03%, while only incurring 61.06% additional inference calls. A 100% re-asking ablation reaches 84.35%, indicating that uncertainty-aware selection captures most of the attainable improvement with substantially less compute. Moreover, a prompt-only ablation underperforms the baseline, suggesting that the gains are not explained by generic prompting alone. Beyond providing a practical inference-time upgrade, our results suggest a broader entropy-aware paradigm for measuring and expanding model capability: because modern decoder-based models generate outputs autoregressively, entropy and related confidence measures arise naturally as first-class control signals during generation. The resulting gap between one-pass greedy inference and uncertainty-conditioned deliberation offers a diagnostic lens on an LLM's latent reasoning horizon and motivates future training objectives that explicitly constrain correctness--confidence alignment.
Dialogue Model Optimization via Agent Game and Adaptive Tree-based GRPO
Venue: arXiv cs.AI 2026
Year: 2026

Open-ended dialogue agents aim to deliver engaging, personalized interactions by adapting to users' traits, but existing methods face critical limitations: over-reliance on pre-collected user data, and short-horizon biases in reinforcement learning (RL) that neglect long-term dialogue value. To address these, we propose a novel long-horizon RL framework integrating online personalization with Adaptive Tree-based Group Relative Policy Optimization (AT-GRPO). Adopting a two-agent game paradigm, a user agent constructs dynamic environments via style mimicry (learning user-specific conversational traits) and active termination (predicting turn-level termination probabilities as immediate rewards), forming an iterative cycle that drives the dialogue agent to deepen interest exploration. AT-GRPO reinterprets dialogue trajectories as trees and introduces adaptive observation ranges. Unlike full tree expansion that incurs exponential overhead, it limits each node to aggregate rewards from a stage-aware range: larger ranges support early-stage topic exploration, while smaller ranges facilitate late-stage dialogue maintenance. This design reduces rollout budgets from exponential to polynomial in the dialogue length, while preserving long-term reward capture. Extensive experiments show our framework's superior performance, sample efficiency, and robustness.
DA-RAG: Dynamic Attributed Community Search for Retrieval-Augmented Generation
Venue: arXiv cs.IR 2026
Year: 2026

Owing to their unprecedented comprehension capabilities, large language models (LLMs) have become indispensable components of modern web search engines. From a technical perspective, this integration represents retrieval-augmented generation (RAG), which enhances LLMs by grounding them in external knowledge bases. A prevalent technical approach in this context is graph-based RAG (G-RAG). However, current G-RAG methodologies frequently underutilize graph topology, predominantly focusing on low-order structures or pre-computed static communities. This limitation affects their effectiveness in addressing dynamic and complex queries. Thus, we propose DA-RAG, which leverages attributed community search (ACS) to extract relevant subgraphs based on the queried question dynamically. DA-RAG captures high-order graph structures, allowing for the retrieval of self-complementary knowledge. Furthermore, DA-RAG is equipped with a chunk-layer oriented graph index, which facilitates efficient multi-granularity retrieval while significantly reducing both computational and economic costs. We evaluate DA-RAG on multiple datasets, demonstrating that it outperforms existing RAG methods by up to 40% in head-to-head comparisons across four metrics while reducing index construction time and token overhead by up to 37% and 41%, respectively.
How Do Language Models Understand Tables? A Mechanistic Analysis of Cell Location
Venue: arXiv cs.CL 2026
Year: 2026

While Large Language Models (LLMs) are increasingly deployed for table-related tasks, the internal mechanisms enabling them to process linearized two-dimensional structured tables remain opaque. In this work, we investigate the process of table understanding by dissecting the atomic task of cell location. Through activation patching and complementary interpretability techniques, we delineate the table understanding mechanism into a sequential three-stage pipeline: Semantic Binding, Coordinate Localization, and Information Extraction. We demonstrate that models locate the target cell via an ordinal mechanism that counts discrete delimiters to resolve coordinates. Furthermore, column indices are encoded within a linear subspace that allows for precise steering of model focus through vector arithmetic. Finally, we reveal that models generalize to multi-cell location tasks by multiplexing the identical attention heads identified during atomic location. Our findings provide a comprehensive explanation of table understanding within Transformer architectures.
GOT-Edit: Geometry-Aware Generic Object Tracking via Online Model Editing
Venue: arXiv cs.CV 2026
Year: 2026

Human perception for effective object tracking in 2D video streams arises from the implicit use of prior 3D knowledge and semantic reasoning. In contrast, most generic object tracking (GOT) methods primarily rely on 2D features of the target and its surroundings, while neglecting 3D geometric cues, making them susceptible to partial occlusion, distractors, and variations in geometry and appearance. To address this limitation, we introduce GOT-Edit, an online cross-modality model editing approach that integrates geometry-aware cues into a generic object tracker from a 2D video stream. Our approach leverages features from a pre-trained Visual Geometry Grounded Transformer to infer geometric cues from only a few 2D images. To address the challenge of seamlessly combining geometry and semantics, GOT-Edit performs online model editing. By leveraging null-space constraints during model updates, it incorporates geometric information while preserving semantic discrimination, yielding consistently better performance across diverse scenarios. Extensive experiments on multiple GOT benchmarks demonstrate that GOT-Edit achieves superior robustness and accuracy, particularly under occlusion and clutter, establishing a new paradigm for combining 2D semantics with 3D geometric reasoning for generic object tracking. The project page is available at https://chenshihfang.github.io/GOT-EDIT.